trello card checklist changes

https://trello.com/c/7OOvkOJG/167-implement-pid-on-lift-encoder
made absolute setpoints
used getHeight for everything
deleted AutoLift bc obsolete
deleted another missed unecessary enable

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/AutoLift.java

@@ -12,8 +12,6 @@
 public class UpdateLiftPosition extends Command {
 
 	private Lift lift;
-
-	private double currDist;
 	private double desiredDist = 0;
 	private LiftHeight desiredPos;
 
@@ -33,14 +31,6 @@ protected void initialize() {
 			System.err.println("[ERROR] Manipulator not plugged in.");
 			manipulatorPluggedIn = false;
 		}
-
-		// I put this enable in here as well as in the Lift constructor bc not sure if
-		// this interrupted() method (and therefore end() and disable() methods) will be
-		// called when an auto command takes overs temporarily. May be repetitive, so...
-		/**
-		 * @TODO figure out if this needs to be here and/or in Lift constructor or not
-		 */
-		lift.enable();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
@@ -59,15 +49,7 @@ protected void execute() {
 				desiredPos = LiftHeight.GROUND;
 			}
 
-			currDist = lift.getHeight();
-			/**
-			 * @TODO: AutoLift sets desiredDist to the delta dist (set - current), but
-			 *        shouldn't you set the setpoint to your actual setpoint? not to the
-			 *        current error? Uncomment line 70 if using delta. Or, use
-			 *        setRelativeSetpoint(something here).
-			 */
 			desiredDist = lift.getDesiredDistFromPos(desiredPos);
-			// desiredDist -= currDist;
 			lift.setSetpoint(desiredDist);
 		}
 	}

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdateLiftPosition.java

@@ -90,7 +90,7 @@ public void setCurrPosition(LiftHeight newPosition) {
 	}
 
 	/**
-	 * Uses (insert sensor here) to detect the current lift position
+	 * Uses AMT103 Encoder to detect the current lift position
 	 */
 	@Override
 	public double getHeight() {
@@ -165,7 +165,7 @@ public double getWiggleRoom() {
 	@Override
 	protected double returnPIDInput() {
 		// return getHeight(); //Use this instead? What's the difference?
-		return liftEnc.getDistance();
+		return getHeight();
 	}
 
 	/**